CN108203054A - One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle - Google Patents
One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle Download PDFInfo
- Publication number
- CN108203054A CN108203054A CN201810169045.XA CN201810169045A CN108203054A CN 108203054 A CN108203054 A CN 108203054A CN 201810169045 A CN201810169045 A CN 201810169045A CN 108203054 A CN108203054 A CN 108203054A
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- China
- Prior art keywords
- cart
- storage cavern
- vehicle
- trolley
- driving
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle, it includes driving system, ground system and remote operating system, and the driving system includes driving crane span structure, and driving crane span structure is equipped with cart track；It is the cart equipped with cart idler wheel on cart track, code reader is equipped on cart, trolley track is equipped with above cart, it is equipped with trolley on trolley track, optical yardstick is equipped on cart track, trolley track, cargo motor is equipped on cart, vehicle motor, reel motor, cable drum are equipped on trolley, grab bucket is connected by steel wire rope and reel motor, cable drum, further includes controller；The technical issues of present invention can solve the existing long-term driving for medium-and-large-sized materials of environment such as handling warehouse, workshop, stock grounds, need to be operated in driver's cabin by professional operator, and the degree of automation of operating mechanism rests on reduced levels.
Description
Technical field
The invention belongs to advanced manufacture and automatic fields, and in particular to one kind of the industries such as building materials, metallurgy is suitable for connection
Close the driving of storage cavern material transfer automatic Pilot.
Background technology
Driving for the large-scale material in the environment such as handling warehouse, workshop, stock ground, is being driven for a long time by professional operator
Operating system is controlled in room, the degree of automation of operating mechanism rests on relatively low level always.Turn again due to using
The kind of drive that substring rheostatic speed regulation, friction brakes etc. fall behind, there are the shortcomings of control accuracy is poor, high energy consumption, big noise.
At the beginning of 21 century, the continuous extension of the application field of driving is penetrated, high pollution environment including the unapproachable Gao Fu of the mankind
In；On the other hand, with factory of the future and automated warehouse, the rise of efficient theory, driving and its similar products become certainly
Indispensable equipment in dynamic metaplasia producing line.Traditional driving efficiency is low, high energy consumption, and noise is big, system complex, the degree of automation
Low, positional accuracy is completely dependent on the qualification of driver.It is this under upcoming overall background of industrial 4.0 epoch
The performance of crane obviously can not meet production and safety requirement, especially in the complicated unordered process environments of joint storage cavern
In, the development of unpiloted automationization driving is even more imperative.
Invention content
The purpose of the invention is to overcome the deficiencies in the prior art, and the one kind provided is suitable for joint storage cavern material and turns
Automatic Pilot driving is transported, it can solve the existing long-term driving for medium-and-large-sized materials of environment such as handling warehouse, workshop, stock grounds,
It needs to be operated in driver's cabin by professional operator, the degree of automation of operating mechanism rests on the technology of reduced levels
Problem.
The technical solution adopted in the present invention is：
One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle, it includes driving system, ground system and remote operation
System, driving system include driving crane span structure, and driving crane span structure is equipped with cart track；It is equipped with the big of cart idler wheel on cart track
Vehicle is equipped with code reader on cart, and trolley track is equipped with above cart, and trolley is equipped on trolley track, is set on trolley
There are the second code reader and third code reader, optical yardstick is equipped on cart track, trolley track, cart is equipped on cart
Motor, is equipped with vehicle motor, reel motor, cable drum on trolley, and grab bucket passes through steel wire rope and reel motor, steel wire rope
Reel is connected, and including controller, the input terminal of controller is connect with the first code reader, the second code reader, third code reader,
The output terminal of controller is connect with the controlled end of cargo motor, vehicle motor, reel motor, and third code reader coordinates with coding disk
Connection, coding disk are arranged on cable drum；
Ground system includes feed bin, storage cavern, and material-level detecting device is set on feed bin, and 3D scanning modelings are equipped on storage cavern and are filled
It puts；
The control terminal of remote operating system and the controlled end of controller connect.
Above-mentioned feed bin at least sets 1,1 material pond is at least set in storage cavern, driving system crane span structure is above storage cavern.
Above-mentioned material-level detecting device is for the real-time material position for monitoring feed bin.
Above-mentioned feed bin includes column, and material-level detecting device is arranged on column.
Above-mentioned material-level detecting device is radar scanner.
It is equipped with and builds a wall between above-mentioned material pond and material pond, the 3D scanning modelings device is arranged on above storage cavern, for material
It is scanned inside pond.
When continuous production carries out feeding, haul and blowing, using following steps：
1）The material position of feed bin is monitored by material-level detecting device, when feed bin reaches low restraining position, signal is transmitted to long-range behaviour
Make system；
2）The position or artificial setting area that the data and reservoir area that remote operating system is detected according to 3D scanning modelings device are driven a vehicle
Domain sends out job instruction to driving；
3）Cart, trolley are according to step 2）In job instruction movement, be moved to designated position near storage cavern in cart, trolley
Afterwards, controller control grab bucket carries out the crawl of material in target material pond；
4）After material captures, cart, trolley are according to step 2）In job instruction movement, and grab bucket is moved to specified material
Near storehouse, then grab bucket carries out blowing operation；
5）Above step is repeated, until feed bin radar level gauge monitoring feed bin reaches high restraining position；Signal is given to Central Control Room
DCS monitoring centers, total management system send out job instruction to travelling facility, and driving grab bucket moves to designated position, stops taking
Material.
Above controller is PLC controller.
Above-mentioned remote operating system is DCS control systems.
Discontinuous manufacture or it is other in special circumstances, by staff either manually or by remote operating system send operation refer to
Enable control driving action.
Using the above structure, the present invention provides a set of unpiloted automation driving scheme, warehouse, factory can be improved
The degree of automation in room, stock ground breaks away from the constraint to driver's qualification, improves driving efficiency, reduce manually into
This.
Description of the drawings
Fig. 1 is automatic Pilot of the present invention driving front view；
Fig. 2 is automatic Pilot of the present invention driving left view；
Fig. 3 is grab bucket schematic diagram of the present invention；
Fig. 4 is storage cavern miscellaneous arrangement plan of the present invention；
Fig. 5 is storage cavern structure diagram of the present invention；
Fig. 6 is laser scanning profile diagram of the present invention；
Fig. 7 is total management system functional block diagram in reservoir area of the present invention；
Fig. 8 is the structure diagram of feed bin in the present invention.
Specific embodiment
As shown in Figure 1, a kind of joint storage cavern material transfer automatic Pilot that is suitable for is driven a vehicle, it includes driving system, ground
System and remote operating system, the driving system include driving crane span structure 1, and driving crane span structure 1 is equipped with cart track 11；Big track
It is the cart 2 equipped with cart idler wheel 21 on road 11, code reader 22 is equipped on cart 2, trolley track 31 is equipped with above cart,
On trolley track be equipped with trolley 3, on trolley 3 be equipped with the second code reader 32 and third code reader 43, cart track 11,
Optical yardstick is equipped on trolley track 31, cargo motor 23 is equipped on cart 2, vehicle motor 33, reel are equipped on trolley 3
Motor 41, cable drum 4, grab bucket 44 are connected by steel wire rope and reel motor 41, cable drum 4, including control
Device, the input terminal of controller are connect with the first code reader 22, the second code reader 32, third code reader 43, the output terminal of controller
It is connect with the controlled end of cargo motor 23, vehicle motor 33, reel motor 41, third code reader 43 connects with the cooperation of coding disk 42
It connects, coding disk 42 is arranged on cable drum 4.
Wherein, the first code reader 22 can realize that the position of cart positions with optical yardstick, controller cooperation；Optical yardstick is divided into
One optical yardstick 111 and the second optical yardstick 311, the first optical yardstick 111 are arranged on cart track, and the second optical yardstick 311 is arranged on
On trolley track, the second code reader 32 and the second optical yardstick 311, controller cooperation can realize that the position of trolley positions.
By third code reader 43 and coding disk 42, controller, reel motor 41, the cooperation of cable drum 4 energy well
Know the state of grab bucket 44, and grab bucket 44 is controlled.
Specifically, cargo motor 23, vehicle motor 33, reel motor 41 are variable-frequency motor, the preferred PLC controls of controller
Device, such controller can preferably with variable-frequency motor cooperating.
Cart track and trolley track are set as orthogonal structure, x, y, z tri- can be realized by three code readers
Positioning on a direction.
Ground system includes feed bin 5, storage cavern 6, and material-level detecting device 51 is set on feed bin 5, is swept on storage cavern 6 equipped with 3D
Retouch model building device 62；
Wherein, material-level detecting device is connect with controller, and material-level detecting device can monitor the amount of material in feed bin 5,3D well
Scanning modeling device 62 is used to carry out the material in storage cavern 6 3D scanning modelings, and controller collects 3D scanning modeling data, and will
Data are transferred to remote operating system, issue right instructions to driving system convenient for remote operating system, such as：From a target position
It puts（Big truck position, small truck position, height of materials）It grabs material and goes to next target location（Material kind and the material according to demand
Laser scanning profile peak）.
Laser scanning device may be selected in 3D scanning modelings device 62.
The control terminal of remote operating system and the controlled end of controller connect.
The feed bin 5 at least sets 1,1 material pond 61 is at least set in storage cavern 6, driving system crane span structure is on storage cavern 6
Side.
The material-level detecting device 51 is for the real-time material position for monitoring feed bin 5.
The feed bin 5 includes column, and material-level detecting device 51 is arranged on column.
The material-level detecting device 51 is radar scanner.
Be equipped with and build a wall between the material pond 61 and material pond, the 3D scanning modelings device is arranged on the top of storage cavern 6, for pair
It is scanned inside material pond 61.
When continuous production carries out feeding, haul and blowing, using following steps：
1）The material position of feed bin 5 is monitored by material-level detecting device 51, when feed bin reaches low restraining position, signal is transmitted to remotely
Operating system；
2）The position or artificial setting area that the data and reservoir area that remote operating system is detected according to 3D scanning modelings device are driven a vehicle
Domain sends out job instruction to driving；
3）Cart 2, trolley 3 are moved according to the job instruction in step 2, and the specific bit nearby of storage cavern 6 is moved in cart 2, trolley 3
It postpones, controller control grab bucket 44 carries out the crawl of material in target material pond 61；
4）After material captures, cart 2, trolley 3 are moved according to the job instruction in step 2, and grab bucket 44 is moved to finger
Determine near feed bin 5, then grab bucket 44 carries out blowing operation；
5）Above step is repeated, until 5 radar level gauge 51 of feed bin monitoring feed bin reaches high restraining position；Signal is given to middle control
Room DCS monitoring centers, total management system send out job instruction to travelling facility, and driving grab bucket 44 moves to designated position, stops
Only feeding.
The remote operating system is DCS control systems.
Discontinuous manufacture or it is other in special circumstances, by staff either manually or by remote operating system send operation refer to
Enable control driving action.
Using this structure, during continuous production, 5 radar level gauge 51 of feed bin monitoring bin-level, feed bin reaches lower bound position
During position, signal is given to Central Control Room DCS control systems；Central Control Room DCS control systems send job instruction to long-range behaviour automatically
Make total management system；Total management system is according to the joint data of detecting system of storage cavern laser scanner 64 and reservoir area row
The position of vehicle or artificial setting area, job instruction is sent out to driving（Such as：From a target location（Big truck position, small parking stall
It puts, height of materials）It grabs material and goes to next target location（Material kind and the material laser scanning profile highest according to demand
Point））；Driving runs to first aim position according to the automatic race cart 2 of instruction, trolley 3（Cart, trolley automatic running in place,
Grab bucket is in safety stop position）, system is by the region of each material in 2 optical yardstick respective segments position of cart examination material kind
Class（Silica, iron powder, sandstone）, after cart 2,3 mechanism of trolley walk in place, 44 automatic declines of grabbing bucket are opened and closed the progress materials that struggle against and grab
It takes；Grab bucket rises to safe altitude, cart 2,3 automatic running of trolley to next target location automatically after crawl material（Hopper
Top）；Grab bucket drops to proper security height and carries out blowing.After the completion of automatic shutter bucket blowing, grab bucket rises to safety automatically
Highly；Above step is repeated, until 5 radar level gauge 51 of feed bin monitoring feed bin reaches high restraining position；Signal is given to middle control
Room DCS control systems, total management system send out job instruction to travelling facility, and driving grab bucket 44 moves to designated position, stops
Only feeding.Any link of above procedure breaks down or other abnormal conditions, total management system send out work to travelling facility
Industry instructs, and driving grab bucket 44 moves to designated position, stops feeding.Discontinuous manufacture or it is other in special circumstances, by Central Control Room
DCS control systems send job instruction to total management system control driving action manually.
Claims (10)
- It drives a vehicle 1. one kind is suitable for joint storage cavern material transfer automatic Pilot, it includes driving system, ground system and long-range behaviour Make system, the driving system includes driving crane span structure（1）, crane span structure of driving a vehicle（1）It is equipped with cart track（11）；Cart track（11） Upper is equipped with cart idler wheel（21）Cart（2）, in cart（2）It is equipped with code reader（22）, small track is equipped with above cart Road（31）, trolley is equipped on trolley track（3）, in trolley（3）It is equipped with the second code reader（32）And third code reader （43）, in cart track（11）, trolley track（31）On be equipped with optical yardstick, in cart（2）It is equipped with cargo motor（23）, Trolley（3）It is equipped with vehicle motor（33）, reel motor（41）, cable drum（4）, grab bucket（44）Pass through steel wire rope and reel Motor（41）, cable drum（4）It is connected, it is characterised in that：Including controller, the input terminal of controller and the first reading code Device（22）, the second code reader（32）, third code reader（43）Connection, the output terminal and cargo motor of controller（23）, trolley electricity Machine（33）, reel motor（41）Controlled end connection, third code reader（43）With coding disk（42）It is connected, coding disk（42） It is arranged on cable drum（4）On；Ground system includes feed bin（5）, storage cavern（6）, in feed bin（5）Upper setting material-level detecting device（51）, in storage cavern（6）On set There are 3D scanning modeling devices（62）；The control terminal of remote operating system and the controlled end of controller connect.
- 2. the joint storage cavern material transfer automatic Pilot according to claim 1 that is suitable for is driven a vehicle, it is characterised in that：The material Storehouse（5）1 is at least set, storage cavern（6）In 1 material pond is at least set（61）, driving system crane span structure is in storage cavern（6）Top.
- 3. the joint storage cavern material transfer automatic Pilot according to claim 2 that is suitable for is driven a vehicle, it is characterised in that：The material Level detecting apparatus（51）For monitoring feed bin in real time（5）Material position.
- 4. the joint storage cavern material transfer automatic Pilot according to claim 3 that is suitable for is driven a vehicle, it is characterised in that：The material Storehouse（5）Including column, material-level detecting device（51）It is arranged on column.
- 5. the joint storage cavern material transfer automatic Pilot according to claim 4 that is suitable for is driven a vehicle, it is characterised in that：The material Level detecting apparatus（51）For radar scanner.
- 6. the joint storage cavern material transfer automatic Pilot according to claim 2 that is suitable for is driven a vehicle, it is characterised in that：The material Pond（61）It is equipped with and builds a wall between material pond, the 3D scanning modelings device is arranged on storage cavern（6）Top, for material pond（61）It is interior Portion is scanned.
- 7. the joint storage cavern material transfer automatic Pilot according to claim 2 that is suitable for is driven a vehicle, which is characterized in that continuous raw When production carries out feeding, haul and blowing, using following steps：1）Pass through material-level detecting device（51）Monitor feed bin（5）Material position, when feed bin reaches low restraining position, signal is transmitted to Remote operating system；2）The position or artificial setting area that the data and reservoir area that remote operating system is detected according to 3D scanning modelings device are driven a vehicle Domain sends out job instruction to driving；3）Cart（2）, trolley（3）According to step 2）In job instruction movement, in cart（2）, trolley（3）It is moved to storage cavern （6）Behind neighbouring designated position, controller control grab bucket（44）In target material pond（61）The interior crawl for carrying out material；4）After material captures, cart（2）, trolley（3）According to step 2）In job instruction movement, and will grab bucket（44）It moves It moves to specified feed bin（5）Near, then grab bucket（44）Carry out blowing operation；5）Above step is repeated, until feed bin（5）Radar level gauge（51）It monitors feed bin and reaches high restraining position；Signal is given to Central Control Room DCS monitoring centers, total management system send out job instruction, driving grab bucket to travelling facility（44）Move to specific bit It puts, stops feeding.
- 8. the joint storage cavern material transfer automatic Pilot that is suitable for according to claims 1 or 2 or 7 is driven a vehicle, it is characterised in that： The controller is PLC controller.
- 9. the joint storage cavern material transfer automatic Pilot that is suitable for according to claims 1 or 2 or 7 is driven a vehicle, it is characterised in that： The remote operating system is DCS control systems.
- 10. the joint storage cavern material transfer automatic Pilot according to claim 7 that is suitable for is driven a vehicle, it is characterised in that：Non- Continuous production or it is other in special circumstances, it is dynamic either manually or by remote operating system to send job instruction control driving by staff Make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810169045.XA CN108203054A (en) | 2018-02-28 | 2018-02-28 | One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810169045.XA CN108203054A (en) | 2018-02-28 | 2018-02-28 | One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN108203054A true CN108203054A (en) | 2018-06-26 |
Family
ID=62605023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810169045.XA Pending CN108203054A (en) | 2018-02-28 | 2018-02-28 | One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896249A (en) * | 2019-03-31 | 2019-06-18 | 中国葛洲坝集团水泥有限公司 | A kind of joint storage cavern crane automatic batching system |
| CN110388872A (en) * | 2019-06-12 | 2019-10-29 | 湖南釜晟智能科技有限责任公司 | A kind of numerical computation method identifying large scale steel slag |
| CN110562729A (en) * | 2019-08-29 | 2019-12-13 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN112676558A (en) * | 2021-02-07 | 2021-04-20 | 江西铜业集团(贵溪)冶金化工工程有限公司 | Full-automatic rotary split copper box device |
| CN114348678A (en) * | 2022-01-06 | 2022-04-15 | 中国恩菲工程技术有限公司 | Control method and device for material transfer automatic driving vehicle and electronic equipment |
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| CN104118802A (en) * | 2014-07-21 | 2014-10-29 | 武汉理工大学 | Automatic control method for material taking and feeding operations of full-automatic garbage transport crane |
| JP2016060598A (en) * | 2014-09-19 | 2016-04-25 | Ｉｈｉ運搬機械株式会社 | Operation support device of grab bucket type unloader |
| CN207986532U (en) * | 2018-02-28 | 2018-10-19 | 中国葛洲坝集团水泥有限公司 | One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
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2018
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104118802A (en) * | 2014-07-21 | 2014-10-29 | 武汉理工大学 | Automatic control method for material taking and feeding operations of full-automatic garbage transport crane |
| JP2016060598A (en) * | 2014-09-19 | 2016-04-25 | Ｉｈｉ運搬機械株式会社 | Operation support device of grab bucket type unloader |
| CN207986532U (en) * | 2018-02-28 | 2018-10-19 | 中国葛洲坝集团水泥有限公司 | One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896249A (en) * | 2019-03-31 | 2019-06-18 | 中国葛洲坝集团水泥有限公司 | A kind of joint storage cavern crane automatic batching system |
| CN110388872A (en) * | 2019-06-12 | 2019-10-29 | 湖南釜晟智能科技有限责任公司 | A kind of numerical computation method identifying large scale steel slag |
| CN110388872B (en) * | 2019-06-12 | 2021-04-06 | 湖南釜晟智能科技有限责任公司 | Numerical calculation method for identifying large-size steel slag |
| CN110562729A (en) * | 2019-08-29 | 2019-12-13 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN110562729B (en) * | 2019-08-29 | 2024-09-10 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN112676558A (en) * | 2021-02-07 | 2021-04-20 | 江西铜业集团(贵溪)冶金化工工程有限公司 | Full-automatic rotary split copper box device |
| CN112676558B (en) * | 2021-02-07 | 2022-05-17 | 江西铜业集团(贵溪)冶金化工工程有限公司 | Full-automatic rotary split copper box device |
| CN114348678A (en) * | 2022-01-06 | 2022-04-15 | 中国恩菲工程技术有限公司 | Control method and device for material transfer automatic driving vehicle and electronic equipment |
| CN114348678B (en) * | 2022-01-06 | 2023-08-22 | 中国恩菲工程技术有限公司 | Control method and device for material transfer automatic driving vehicle and electronic equipment |
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